| With the continuous expansion of the industrial scale of assembly equipment and the continuous improvement of customer demand,various assembly machines are required not only to complete a variety of complex tasks,but also to adapt to a variety of extreme occasions.It has become the future development trend to advocate efficient,green,low cost and high degree of intelligence assembly equipment.Because the core structure is more complex,in order to improve the performance and efficiency of the pin assembly machine,it is necessary to enhance the intelligent degree of the core feeding device.In view of this practical need,this paper takes core loading device as the research object,and carries out structural design,dynamic simulation analysis,core positioning and correction,etc.The main research contents are as follows:(1)Structure analysis of core loading device.According to the technological process and structural characteristics of the pin assembly machine,the technological principle and process of the core feeding device are determined,and the process of the core feeding,positioning,grasping,correction,clamping and conveying are studied,and the feeding scheme of the core feeding device is determined.And the use of SolidWorks on the core feeding device for structural design,including the core feeding mold,the core clamping mold,the core feeding device,the core material device,and determine the overall layout.(2)Dynamic characteristics and dynamic simulation analysis of core loading device.On the one hand,the finite element model of the beam manipulator is constructed by using the finite element analysis method,and the modal analysis is carried out to analyze the influence of its vibration response on the system reliability.It is concluded that the influence of the beam manipulator on the whole machine is small whether it is low frequency or high frequency,which avoids the occurrence of resonance.On the other hand,the rigid-flexible coupling multi-body system dynamics model is established,and the beam manipulator is co-simulated by ADAMS and MATLAB.The influence of different speeds and different loads on the vibration of the end of the manipulator is analyzed,and the conclusion is drawn that the influence of speed change on the vibration of the end of the manipulator is more significant.(3)Core positioning analysis based on machine vision.The visual system is built and calibrated,and the image is smoothing and de-noising by means of mean filter,median filter and Gaussian filter,and the result shows that the Gaussian filter has a better effect on image smoothing and de-noising.On this basis,template matching and BLOB analysis are used to simulate the positioning of the core,and the comparison shows that the positioning accuracy of BLOB analysis is higher.(4)Core positioning and correction test.The experimental platform was built,and the experimental results were compared by using template matching and BLOB analysis.The results showed that the maximum data difference between the horizontal and longitudinal coordinates of the core body at the same position was smaller than the difference of the simulation results.Under the same conditions,the positioning accuracy was higher by using BLOB analysis,while the calculation amount was smaller by using template matching.For core correction,Gaussian filter preprocessing,threshold segmentation,feature extraction,affine transformation and other algorithms are used to obtain the offset Angle and correct it.After many tests,the correction errors are all less than 0.0013 radians.The feasibility of the scheme was verified through core positioning and correction tests. |
